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<div class="title">fitting_curve_2d.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef NURBS_FITTING_CURVE_2D_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define NURBS_FITTING_CURVE_2D_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_tools.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_data.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_solve.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>on_nurbs</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html">   56</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html">FittingCurve2d</a></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_parameter.html">   60</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_parameter.html">Parameter</a></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;          <span class="keywordtype">double</span> smoothness;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;          <span class="keywordtype">double</span> rScale;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;          <a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_parameter.html">Parameter</a> () :</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;            smoothness (0.1), rScale (1.0)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;          {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;          }</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        };</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_fit_parameter.html">   70</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_fit_parameter.html">FitParameter</a></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          <a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_parameter.html">pcl::on_nurbs::FittingCurve2d::Parameter</a> param;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          <span class="keywordtype">unsigned</span> refinement;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          <span class="keywordtype">double</span> addCPsAccuracy;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;          <span class="keywordtype">unsigned</span> addCPsIteration;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          <span class="keywordtype">unsigned</span> maxCPs;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          <span class="keywordtype">double</span> meanDeltaCPS;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        };</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <a class="code" href="class_o_n___text_log.html">ON_TextLog</a> m_out;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> m_nurbs;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *m_data;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adfb734db6176e88adc595f49baf37042">   89</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adfb734db6176e88adc595f49baf37042">FittingCurve2d</a> (<span class="keywordtype">int</span> order, <a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *data);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a3336ba8d5ca2ee9920399292a26e333e">   95</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a3336ba8d5ca2ee9920399292a26e333e">FittingCurve2d</a> (<a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *data, <span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nc);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ab524e6df4fcf3f1a453440a941a67316">  103</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ab524e6df4fcf3f1a453440a941a67316">findElement</a> (<span class="keywordtype">double</span> xi, <span class="keyword">const</span> std::vector&lt;double&gt; &amp;elements);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad8470c61e42011ea1d22c18355d8a0c6">  107</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad8470c61e42011ea1d22c18355d8a0c6">refine</a> ();</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5be105a17fc776b21510b29a668a1e23">  113</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5be105a17fc776b21510b29a668a1e23">refine</a> (<span class="keywordtype">double</span> xi);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ab54f8656a9a168aa37ae43ebcda3aa05">  120</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ab54f8656a9a168aa37ae43ebcda3aa05">assemble</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_parameter.html">Parameter</a> &amp;parameter);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        addControlPointConstraint (<span class="keywordtype">int</span> i, <span class="keyword">const</span> Eigen::Vector2d &amp;f, <span class="keywordtype">double</span> weight);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5a2eed2ea867ee9d695f0376f79a14bd">  129</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5a2eed2ea867ee9d695f0376f79a14bd">solve</a> (<span class="keywordtype">double</span> damp = 1.0);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad349d9884482ff4a88994b2b95743228">  135</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad349d9884482ff4a88994b2b95743228">updateCurve</a> (<span class="keywordtype">double</span> damp);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keyword">static</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a091955684db32cd7a0f8c54d1c96dc4f">  143</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a091955684db32cd7a0f8c54d1c96dc4f">initNurbsCPS</a> (<span class="keywordtype">int</span> order, <span class="keyword">const</span> vector_vec2d &amp;cps);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keyword">static</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a></div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad3f8f7ae67babf10681158f9d9a87ef0">  152</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad3f8f7ae67babf10681158f9d9a87ef0">initNurbsPCA</a> (<span class="keywordtype">int</span> order, <a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *data, <span class="keywordtype">int</span> ncps=0);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#af1de48c8d5f5bcf64adb44d1f77d5b5e">  158</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#af1de48c8d5f5bcf64adb44d1f77d5b5e">reverse</a>(<a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;curve);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keyword">static</span> std::vector&lt;double&gt;</div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5078d5a05eb64d0d80bf736082c9613c">  162</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5078d5a05eb64d0d80bf736082c9613c">getElementVector</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#afb7fa65f7839c48b8bb31bf3b8b2fec5">  177</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#afb7fa65f7839c48b8bb31bf3b8b2fec5">inverseMapping</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, <span class="keyword">const</span> Eigen::Vector2d &amp;pt, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;hint, <span class="keywordtype">double</span> &amp;error,</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                        Eigen::Vector2d &amp;p, Eigen::Vector2d &amp;t, <span class="keywordtype">double</span> rScale, <span class="keywordtype">int</span> maxSteps = 100,</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                        <span class="keywordtype">double</span> accuracy = 1e-6, <span class="keywordtype">bool</span> quiet = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        inverseMappingO2 (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, <span class="keyword">const</span> Eigen::Vector2d &amp;pt, <span class="keywordtype">double</span> &amp;error, Eigen::Vector2d &amp;p,</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                          Eigen::Vector2d &amp;t);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adcd936c29131725771d8e6151b3516a4">  191</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adcd936c29131725771d8e6151b3516a4">findClosestElementMidPoint</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, <span class="keyword">const</span> Eigen::Vector2d &amp;pt);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        findClosestElementMidPoint (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, <span class="keyword">const</span> Eigen::Vector2d &amp;pt, <span class="keywordtype">double</span> hint);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a682feac9bf93d5dd95b5898a72fc46cd">  197</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a682feac9bf93d5dd95b5898a72fc46cd">setQuiet</a> (<span class="keywordtype">bool</span> val)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          m_quiet = val;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          m_solver.setQuiet (val);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#afdcd57434f6bdacfbdc7fb841af6b35c">  205</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#afdcd57434f6bdacfbdc7fb841af6b35c">setInverseParams</a> (<span class="keywordtype">int</span> max_steps = 200, <span class="keywordtype">double</span> accuracy = 1e-6)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        {</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          in_max_steps = max_steps;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          in_accuracy = accuracy;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        }</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ae118fa73ff38ff988fe9d06d0fde3faa">  214</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ae118fa73ff38ff988fe9d06d0fde3faa">addPointConstraint</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;param, <span class="keyword">const</span> Eigen::Vector2d &amp;point, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adf3e66df77828296142d027e97fd97b9">  218</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adf3e66df77828296142d027e97fd97b9">addCageRegularisation</a> (<span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a8d2cde74333657cc9222c9059ba14790">  222</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a8d2cde74333657cc9222c9059ba14790">assembleInterior</a> (<span class="keywordtype">double</span> wInt, <span class="keywordtype">double</span> rScale, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">NurbsSolve</a> m_solver;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <span class="keywordtype">bool</span> m_quiet;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keywordtype">int</span> in_max_steps;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <span class="keywordtype">double</span> in_accuracy;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    };</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;}</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclass_o_n___nurbs_curve_html"><div class="ttname"><a href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a></div><div class="ttdef"><b>Definition:</b> opennurbs_nurbscurve.h:30</div></div>
<div class="ttc" id="aclass_o_n___text_log_html"><div class="ttname"><a href="class_o_n___text_log.html">ON_TextLog</a></div><div class="ttdef"><b>Definition:</b> opennurbs_textlog.h:23</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html">pcl::on_nurbs::FittingCurve2d</a></div><div class="ttdoc">Fitting a 2D B-Spline curve to 2D point-clouds using point-distance-minimization Based on paper: TODO</div><div class="ttdef"><b>Definition:</b> fitting_curve_2d.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_a091955684db32cd7a0f8c54d1c96dc4f"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a091955684db32cd7a0f8c54d1c96dc4f">pcl::on_nurbs::FittingCurve2d::initNurbsCPS</a></div><div class="ttdeci">static ON_NurbsCurve initNurbsCPS(int order, const vector_vec2d &amp;cps)</div><div class="ttdoc">Initialize a closed B-Spline curve given a list of control points.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_a3336ba8d5ca2ee9920399292a26e333e"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a3336ba8d5ca2ee9920399292a26e333e">pcl::on_nurbs::FittingCurve2d::FittingCurve2d</a></div><div class="ttdeci">FittingCurve2d(NurbsDataCurve2d *data, const ON_NurbsCurve &amp;nc)</div><div class="ttdoc">Constructor initializing with the B-Spline curve given in argument 2.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_a5078d5a05eb64d0d80bf736082c9613c"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5078d5a05eb64d0d80bf736082c9613c">pcl::on_nurbs::FittingCurve2d::getElementVector</a></div><div class="ttdeci">static std::vector&lt; double &gt; getElementVector(const ON_NurbsCurve &amp;nurbs)</div><div class="ttdoc">Get the elements of a B-Spline curve.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_a5a2eed2ea867ee9d695f0376f79a14bd"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5a2eed2ea867ee9d695f0376f79a14bd">pcl::on_nurbs::FittingCurve2d::solve</a></div><div class="ttdeci">virtual double solve(double damp=1.0)</div><div class="ttdoc">Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake),...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_a5be105a17fc776b21510b29a668a1e23"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a5be105a17fc776b21510b29a668a1e23">pcl::on_nurbs::FittingCurve2d::refine</a></div><div class="ttdeci">void refine(double xi)</div><div class="ttdoc">Refines curve by inserting a knot in the middle of the element belonging to xi.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_a682feac9bf93d5dd95b5898a72fc46cd"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a682feac9bf93d5dd95b5898a72fc46cd">pcl::on_nurbs::FittingCurve2d::setQuiet</a></div><div class="ttdeci">void setQuiet(bool val)</div><div class="ttdoc">Enable/Disable debug outputs in console.</div><div class="ttdef"><b>Definition:</b> fitting_curve_2d.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_a8d2cde74333657cc9222c9059ba14790"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#a8d2cde74333657cc9222c9059ba14790">pcl::on_nurbs::FittingCurve2d::assembleInterior</a></div><div class="ttdeci">virtual void assembleInterior(double wInt, double rScale, unsigned &amp;row)</div><div class="ttdoc">Assemble point-to-curve constraints.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_ab524e6df4fcf3f1a453440a941a67316"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ab524e6df4fcf3f1a453440a941a67316">pcl::on_nurbs::FittingCurve2d::findElement</a></div><div class="ttdeci">static int findElement(double xi, const std::vector&lt; double &gt; &amp;elements)</div><div class="ttdoc">Find the element in which the parameter xi lies.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_ab54f8656a9a168aa37ae43ebcda3aa05"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ab54f8656a9a168aa37ae43ebcda3aa05">pcl::on_nurbs::FittingCurve2d::assemble</a></div><div class="ttdeci">virtual void assemble(const Parameter &amp;parameter)</div><div class="ttdoc">Assemble the system of equations for fitting</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_ad349d9884482ff4a88994b2b95743228"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad349d9884482ff4a88994b2b95743228">pcl::on_nurbs::FittingCurve2d::updateCurve</a></div><div class="ttdeci">virtual double updateCurve(double damp)</div><div class="ttdoc">Update curve according to the current system of equations.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_ad3f8f7ae67babf10681158f9d9a87ef0"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad3f8f7ae67babf10681158f9d9a87ef0">pcl::on_nurbs::FittingCurve2d::initNurbsPCA</a></div><div class="ttdeci">static ON_NurbsCurve initNurbsPCA(int order, NurbsDataCurve2d *data, int ncps=0)</div><div class="ttdoc">Initialize a closed B-Spline curve using the bounding circle of the point-cloud.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_ad8470c61e42011ea1d22c18355d8a0c6"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#ad8470c61e42011ea1d22c18355d8a0c6">pcl::on_nurbs::FittingCurve2d::refine</a></div><div class="ttdeci">void refine()</div><div class="ttdoc">Refines curve by inserting a knot in the middle of each element.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_adcd936c29131725771d8e6151b3516a4"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adcd936c29131725771d8e6151b3516a4">pcl::on_nurbs::FittingCurve2d::findClosestElementMidPoint</a></div><div class="ttdeci">static double findClosestElementMidPoint(const ON_NurbsCurve &amp;nurbs, const Eigen::Vector2d &amp;pt)</div><div class="ttdoc">Given a point pt, the function finds the closest midpoint of the elements of the curve.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_adf3e66df77828296142d027e97fd97b9"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#adf3e66df77828296142d027e97fd97b9">pcl::on_nurbs::FittingCurve2d::addCageRegularisation</a></div><div class="ttdeci">virtual void addCageRegularisation(double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: smoothness by control point regularisation.</div></div>
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<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_af1de48c8d5f5bcf64adb44d1f77d5b5e"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#af1de48c8d5f5bcf64adb44d1f77d5b5e">pcl::on_nurbs::FittingCurve2d::reverse</a></div><div class="ttdeci">static void reverse(ON_NurbsCurve &amp;curve)</div><div class="ttdoc">Reverse direction of rotation of a closed B-spline curve</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_afb7fa65f7839c48b8bb31bf3b8b2fec5"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#afb7fa65f7839c48b8bb31bf3b8b2fec5">pcl::on_nurbs::FittingCurve2d::inverseMapping</a></div><div class="ttdeci">static double inverseMapping(const ON_NurbsCurve &amp;nurbs, const Eigen::Vector2d &amp;pt, const double &amp;hint, double &amp;error, Eigen::Vector2d &amp;p, Eigen::Vector2d &amp;t, double rScale, int maxSteps=100, double accuracy=1e-6, bool quiet=true)</div><div class="ttdoc">Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-S...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_html_afdcd57434f6bdacfbdc7fb841af6b35c"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d.html#afdcd57434f6bdacfbdc7fb841af6b35c">pcl::on_nurbs::FittingCurve2d::setInverseParams</a></div><div class="ttdeci">void setInverseParams(int max_steps=200, double accuracy=1e-6)</div><div class="ttdoc">Set parameters for inverse mapping.</div><div class="ttdef"><b>Definition:</b> fitting_curve_2d.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_nurbs_solve_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">pcl::on_nurbs::NurbsSolve</a></div><div class="ttdoc">Solving the linear system of equations using Eigen or UmfPack. (can be defined in on_nurbs....</div><div class="ttdef"><b>Definition:</b> nurbs_solve.h:54</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_fit_parameter_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_fit_parameter.html">pcl::on_nurbs::FittingCurve2d::FitParameter</a></div><div class="ttdef"><b>Definition:</b> fitting_curve_2d.h:71</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_parameter_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_1_1_parameter.html">pcl::on_nurbs::FittingCurve2d::Parameter</a></div><div class="ttdoc">Parameters for fitting</div><div class="ttdef"><b>Definition:</b> fitting_curve_2d.h:61</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_nurbs_data_curve2d_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">pcl::on_nurbs::NurbsDataCurve2d</a></div><div class="ttdoc">Data structure for 2D NURBS curve fitting (FittingCurve2d, FittingCurve2dTDM, FittingCurve2dSDM)</div><div class="ttdef"><b>Definition:</b> nurbs_data.h:167</div></div>
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